Mechanical Engineering Department, Shahrood University of Technology, Shahrood, Iran.
Semnan Science and Technology Park, Shahrood, Iran.
Sci Rep. 2022 Mar 7;12(1):3627. doi: 10.1038/s41598-022-07799-9.
One of the issues in the field of soft-robotic systems is that how to create a fast displacement mechanism which it operates close to nature. This paper presents a deep study of hybrid of mixed electrolysis and fluids chemical reaction (HEFR) method for general applications, considering contraction/expansion of a single/multiple (taped) soft bio-inspired actuators in various conditions and a practical instance of a moving wing mechanism. This research extends the recent study of corresponding author's team (Zakeri and Zakeri, Deformable airfoil using hybrid of mixed integration electrolysis and fluids chemical reaction (HEFR) artificial muscle technique. Sci Rep 11:5497, 2021) that previous study concentrated on just single bio actuator in deformable airfoil. This work offers a general artificial muscle which it employs the hybrid of mixed electrolysis (electrolysis module with 10 mL capacity without any separation of materials such as O or H), two fluids for chemical reaction (sodium bicarbonate (NaHCO3 (s)) and acetic acid (CH3COOH (l))) and also multilayer soft skin bags (40 × 30 mm). The analyzed parameters are amount of displacement (contraction/expansion) over time (response time), the ratio of output force to total weight and extremely low expense of manufacturing. The main results are as follows: the released energy from 1 mL sodium bicarbonate, 10 mL acetic acid and a 12 V electrolysis module have ability to give a response time less than 1 s (25 mm expansion and 4 mm contraction) with 12 W power consumption and also bio actuator can easily displace a 250 g object (total weight of components is almost 33 g). Also, it has been shown that the response time of mixed electrolysis in the proposed inactive solution (without any fresh chemical reaction) will be nine times to pure water. In the active solution (refresh chemical reaction), response time of HEFR will be accelerated 2.44 times to pure chemical reaction. By applying the multilayer soft skin bags or soft actuators (multi contraction and multi expansion model), a practical movable flapping wing has been presented which a full cycle of flapping would take 2 s. The proposed method has ability to show a quick response time, without making any noise, very low construction cost and practical for general and frequent uses.
软体机器人系统领域的一个问题是如何创建一种接近自然运作的快速位移机制。本文对混合电解和流体化学反应（HEFR）方法进行了深入研究，考虑了在各种条件下单个/多个（带）软生物启发式致动器的收缩/膨胀，以及一个移动机翼机构的实际实例。这项研究扩展了相应作者团队（Zakeri 和 Zakeri，使用混合集成电解和流体化学反应（HEFR）人工肌肉技术的可变形翼型。Sci Rep 11:5497, 2021）的最新研究，该研究之前仅集中于单个生物致动器在可变形翼型中的应用。这项工作提供了一种通用的人工肌肉，它采用混合电解（电解模块容量为 10 mL，无需任何材料如 O 或 H 的分离）、两种化学反应流体（碳酸氢钠（NaHCO3（s））和乙酸（CH3COOH（l））以及多层软皮袋（40×30mm）。分析的参数是随时间的位移量（收缩/膨胀）、输出力与总重量的比值以及极低的制造成本。主要结果如下：从 1 mL 碳酸氢钠、10 mL 乙酸和 12 V 电解模块释放的能量具有在 12 W 功耗下产生小于 1 s（25mm 膨胀和 4mm 收缩）响应时间的能力，并且生物致动器可以轻松移动 250 g 物体（组件的总重量几乎为 33 g）。此外，已经表明，在提出的非活性溶液（没有任何新的化学反应）中，混合电解的响应时间将是纯水的九倍。在活性溶液（刷新化学反应）中，HEFR 的响应时间将比纯化学反应快 2.44 倍。通过应用多层软皮袋或软致动器（多收缩和多膨胀模型），已经提出了一个实用的可移动扑翼，一个完整的扑翼周期需要 2 s。所提出的方法具有快速响应时间的能力，没有任何噪音，非常低的建造成本，并且适用于一般和频繁使用。
